EP0335752A2 - System for manufacturing semiconductors under clean condition - Google Patents
System for manufacturing semiconductors under clean condition Download PDFInfo
- Publication number
- EP0335752A2 EP0335752A2 EP89400122A EP89400122A EP0335752A2 EP 0335752 A2 EP0335752 A2 EP 0335752A2 EP 89400122 A EP89400122 A EP 89400122A EP 89400122 A EP89400122 A EP 89400122A EP 0335752 A2 EP0335752 A2 EP 0335752A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- clean room
- room
- robot
- clean
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67775—Docking arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
- B25J21/005—Clean rooms
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67772—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading involving removal of lid, door, cover
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/135—Associated with semiconductor wafer handling
- Y10S414/139—Associated with semiconductor wafer handling including wafer charging or discharging means for vacuum chamber
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/135—Associated with semiconductor wafer handling
- Y10S414/14—Wafer cassette transporting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53096—Means to assemble or disassemble including means to provide a controlled environment
Definitions
- the present invention relates to a system for manufacturing semiconductor under a clean condition, which can be suitably implemented in a semiconductor production plant or the like requiring high degree of freedom from dust.
- a system for providing a clean condition which is called an entire down-flow system has heretofore been employed most extensively. In this system, air having passed through a fine dust particle removal filter is caused to flow down through a room so that air in the room is cleaned with this circulation of clean air.
- An object of the invention is to provide a system for manufacturing semiconductor under clean condition, which is advantageous costwise, permits a highly clean state to be obtained and does not require any large-scale withdrawal fan.
- a system for manufacturing semiconductor under clean condition which comprises a plurality of processing units disposed in a clean room in a low or medium cleanliness state and held in a high cleanliness state, and a transport robot capable of being driven to positions corresponding to the plurality of processing units and having a self-cleaning function of holding clean a tansfer box, in which a workpiece or an object is accommodated, the transport robot being controlled such as to effect transfer of the workpiece or object between its arm and a processing unit when it reaches the position corresponding to the processing unit.
- the processing units (and storage stockers, if necessary) are locally held in a highly clean state at all time, and also the transport robot, which transfers a workpiece or object to and from the processing unit (or storage stocker) is locally held in a highly clean state.
- the transport robot needs not have a self-cleaning function so long as it can hold an object which is accommodated in a carrier in a sealed state in a highly clean state outside the clean room.
- the highly clean state may be formed by partitioning the clean room with a partitioning wall, or alternatively, each processing unit may be held in a highly clean state by providing its housing with a filter.
- the cleanliness may be varied by varying the mesh of the filter provided on the ceiling of the clean room.
- Fig. 1 is a schematic view showing the entire system according to the invention.
- Reference numeral 1 designates outer walls of a building.
- the outer walls 1 include a ceiling 2 and a side wall 3.
- Reference numeral 4 designates inner walls provided on the inner side of and at a suitable distance from the outer walls 1 to form a clean room 12.
- a room 5 is formed between the inner and outer walls 4 and 1.
- the inner walls 4 include a ceiling 7, a side wall 7 and a bottom 8.
- the bottom 8 partitions the interior of the building into first and second story parts 8 and 10.
- a vertical partition wall 11 is provided between the ceiling 6 and bottom 8 to divide the clean room 12 into two rooms 13A and 13B having different cleanlinesses.
- a fan 14 is disposed in the first story part of the room 5, and a power source unit 15 and a control panel 16 for controlling the supply of gases and liquid chemicals are provided on the inner side of the side wall 7 in the same story part.
- a filter 17 is provided in a portion of the side wall 7 in front of the fan 14 to remove dust from air caused to flow from the first story part toward the fan 14.
- Filters 18 and 19 having different mesh sizes are provided in the ceiling 6 on the opposite sides of the partitioning wall 11.
- the bottom 8 is provided with holes or openings 20 and 21. Air entering the rooms 13A and 13B from the filters 18 and 19 is returned to the first story part 9 through the holes 20 and 21, thus holding cleanliness of air in each room. While the cleanliness of the room 5 is about class 1,000, the cleanliness of the room 13A is about class 300, and the cleanliness of the room 13B, in which a storage stocker 28 and a processing unit 29 are disposed, is class 1.
- the room 13A serves as an operation area with control unit 22 disposed therein.
- a transport robot 23 can run inside the room 13A.
- the robot 23 has a body 24 and a head 25 rotatably provided on top of the body 24 and capable of accommodating an object 31 to be transported.
- the head 25 has an arm 26 for clamping and unclamping the object (i.e., a carrier accommodating semiconductor wafers) 31.
- the arm 26 can penetrate a hole 27 provided in te partition wall 11 for feeding the object 31 to and out of the storage stocker 28 and processing unit 29 provided in a juxtaposed fashion in the room 13B.
- Fig. 2 is an actual arrangement of a plurality of the structures shown in Fig. 1.
- the entirety shown in this Figure constitutes clean room 12.
- rooms 13B are formed by partitioning walls and ceiling 6.
- Guideways 30 are laid on the floor 8.
- the robot 23 is wheeled such as a railway wagon, rails are laid as the guideways 30 on the floor 8.
- the robot 23 is driven by electromagnetic induction, wires or tape-like members, through which AC current can flow, are laid.
- the robot 23 is guided mechanically or by electromagnetic induction along the guideways 30 to run a predetermined course to a position in front of each room 13B.
- Fig. 3 shows the robot 23 held in front of a room 13B for in- or out-feeding the object 31.
- the robot 23 shown in Fig. 3 does not have a self-cleaning function, and a carrier 31A, in which the object 31 is sealed in a highly clean state, is accommodated in the head outside the clean room 12.
- the head 25 of the robot 23 held in front of the room 13B is turned to bring the arm 26 to a position directed toward the partitioning wall 11, and in this state the arm 26 is inserted into the room 13B through the hole 27 in the partitioning wall 11.
- the arm 26 transports the carrier 31A to the storage stocker 28 or processing unit 29.
- the arm has a telescopic structure, can be raised and lowered in unison with the head 25 and can be turned in a vertical plane about its portion supported by the head 25.
- the robot 23 may have a self-cleaning function, and in such a case the object 31 is directly accommodated in the head 25.
- Fig. 4 shows a modification of the system described above according to the invention.
- the partitioning wall has a double-wall structure
- the transport robot 23 has a self-cleaning function. More specifically, a fan unit 32 and a duct 33 are provided on top of a room 13B, and another partitioning wall 34 is provided on the inner side of partitioning wall 11.
- a room 35 defined between the two partitioning walls 11 and 34 is communicated with the room 13B through vent holes formed in the partitioning wall 34.
- a filter 36 is provided in an upper portion of the room 35, and air in the room 13B is circulated through the filter 36 as shown by arrow in the Figure.
- a filter 37 is provided on the head 25 of the robot 23.
- This filter 13A withdraws air in the room 13A and provides it to the inside of the head 25 after dust removal.
- the transport of the object 31 to or out of the storage stocker 28 or processing unit 29 is performed in such a highly clean environment as noted above.
- air is supplied to the room 35 by the fan 32, and no air enters the room 13B from the room 13A through the hole 27 in the partitioning wall 11.
- the transport robot 23 holding the object in a highly clean state is run along the guideways 30 laid in the room 13A.
- the robot 23 When the robot 23 is brought to a position in front of a storage stocker 28 or a processing unit 29, it is stopped, and the arm 26 is operated.
- the robot 23 has a self-cleaning function, it transports the object 31 to or out of the storage stocker 28 or processing unit 29.
- the robot has no self-cleaning function, it transports a carrier accommodating the object to or out of the storage stocker 28 or processing unit 29.
- the timing of start and direction of running of the robot 23 and timing of the start of operation of the arm 26 are controlled by a computer.
- the object 31 is transported through a clean space by a dust-free unit or carrier mounted in the robot 23. Therefore, the cleanliness of the entire plant with the guideways 30 laid therein may be of the order of class 10,000.
- reference numeral 41 designates a body of a robot wagon M using a battery as drive source.
- the robot wagon M is provided at the bottom with wheels, a wheel drive mechanism, guide line sensors and mark sensors. It accommodates a drive controller and a running programmer as well as the battery noted above. Its ceiling is covered by a horizontal cover 45.
- a robot arm 46 having five degrees of freedom is mounted on a front portion 45A of the horizontal cover 45 of the body 41.
- a transport box 47 is mounted on a rear portion of the horizontal cover 45.
- the tranport box 47 has a body 52 and a hood 54.
- the body 52 has a bottom wall 48, front and rear side walls 49 and 50 with respect to the running direction of the robot wagon M and a back wall 51 formed with a vent hole 51A.
- the hood 54 has an opening to cover the body 52, and it has a lid 56 having such a sectional profile as to extend along the edge of the opening 13 of the side wall 49 and a cover portion 56 covering the side wall 50 of the body 52.
- a strip-like edge portion 57 covering the side wall 49 is hinged to the back wall 51.
- An air cleaning unit 58 is mounted on the outer side of the back wall 51 of the body 52. The air cleaning unit 58 accommodates a fan 59 and a filter 60.
- An air curtain unit 61 is provided on the outer surface of the side wall 49 with its air blow-out port up.
- Reference numeral 62 designates a motor-driven fan of the air curtain unit 61.
- the hood 54 as shown in Fig. 8 (and shown in an open state in Fig. 9), is coupled to the cleaning unit 58 (or body 52) via a hood opening fixing/releasing mechanism (for instance a one-touch stay) 63.
- the hood opening fixing/releasing mechanism 63 has a cylinder 63A and a rod 63B.
- the cylinder 63A has one end rotatably coupled to the air cleaning unit 58, and the rod 63B has one end rotatably coupled to the hood 54.
- a switch 64 for instance a U-shaped photoelectric switch
- a switch 64 is mounted on the upper end of the inner surface of the side wall 50 of the body 52, and it is driven by a dog 65 mounted on the lid 55 of the hood 54.
- a detection signal provided from the switch 64 is used as a command for energizing a relay Ry shown in Fig. 12.
- the relay Ry has relay switches RY1 to RY3.
- a hood for engaging with a robot arm to be opened and closed is mounted on the top of the hood 54.
- the relay switch RY1 has a function of switching power supplies E H and E L ( ⁇ E H ), and the relay switch RY2 has a function of switching the power supply E L and zero potential.
- the relay switch RY3 is provided to inform the robot 46 of the state of the hood 54 (i.e., whether the hood is opened or closed).
- the power supplies E H and E L are taken out from the battery mounted in the wagon. Designated at D is a diode.
- the body 41 accommodates a table 67 to support a wafer cassette C (Fig. 13) set thereon.
- the table 67 has its end on the side of the back wall 51 supported on the back wall 51 via a hinge mechanism and the opposite end supported by a motor-driven cylinder 68.
- the wafer cassette C is set on the table 67 not in the orientation shown in Fig. 13 but in an orientation obtained as a result of turning down it in the direction of arrow from the illustrated orientation. In this orientation, wafers W are liable to be detached from the wafer cassette C due to vibrations of the robot wagon M being driven. When the wafer cassette C is in a slightly inclined orientation rather than in the horizontal orientation, the wafers W are snugly accommodated in grooves C1 of the wafer cassette C, and their corners are less liable to be broken. Thus, when driving the robot wagon M, the table 67 is tilted by a predetermined angle as shown by dashed lines in Fig. 5 by operating the motor-driven cylinder 68.
- the robot arm 46 which is of playback type, commences a preliminarily instructed operation by receiving a command from the running programmer, thus hooking the hood 56 and opening the hood 54 upwards as shown in Fig. 5.
- the hood 54 is opened upwards by a predetermined angle ⁇ (sufficient to permit operation of the robot arm entering the body 52), and the rod 63B of the hood opening fixing/releasing mechanism 63 is fully extended to secure the rod 63B.
- the switch 64 provides a detection signal.
- the relay Ry is energized, with is switch RY1 switched to the side of the power supply E H and its switch RY2 switched to the side of the power supply E H .
- the revolving rate of the fan 59 thus is increased to increase the rate of supply of clean air into the body 52.
- the relay switch RY3 is closed, and a control circuit (not shown) for controlling the arm 46 detects that the hood 54 is opened and provides a reciprocation command to the motor-driven cylinder 68.
- the rod of the motor-driven cylinder 68 thus is elongated to bring the table 67 back to the horizontal orientation.
- the robot arm 46 is advanced into the body 52 through the opening 53A, takes out the wafer cassette C from the table 67, brings it to the outside through the openig 53 and transports it to the storage stocker 28 or processing unit 29 through the opening 53.
- clean air is supplied from the air cleaning unit 58 to the inside of the body 52 during the transport of the object, thus preventing dust from entering the inside of the body and attaching itself to the wafers W.
- the storage stocker 28 and processing unit 29 are provided.
- the storage stocker 28 is necessary when there occurs a trouble in the processing unit 29, an it is not needed so long as the unit 29 is sound.
- the partitioning wall 11, which serves to partition the storage stocker 28 and processing unit 29 requiring high cleanliness with respect to the chamger 12 requiring low or medium cleanliness, is not essential, and it may be omitted by providing the housing of the storage stocker 28 or processing unit 29 with filter 19 and hole 27.
- the guideways 30 are laid on the floor 8 as mechanism for causing running of the transport robot along them, they are not essential.
- the robot with light- emitting and light-receiving sections for emitting and receiving invisible light such as infrared rays
- provide a robot steering mechanism with a structure responsible to the status of reflection of the rays and automatically determine the direction of progress of the robot by detecting the status of reflection of rays by the storage stocker 28 or processing unit 29 or any separately provided guide post.
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Computer Hardware Design (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ventilation (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Cleaning Or Drying Semiconductors (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Manipulator (AREA)
Abstract
Description
- The present invention relates to a system for manufacturing semiconductor under a clean condition, which can be suitably implemented in a semiconductor production plant or the like requiring high degree of freedom from dust.
- In semiconductor production plants, it has become essential to provide a dust-free (or ultra-clean) manufacturing condition with increase of integration density of products and increase of fineness of processing. Equipment for providing clean condition of semiconductor production plants thus is important. A system for providing a clean condition which is called an entire down-flow system has heretofore been employed most extensively. In this system, air having passed through a fine dust particle removal filter is caused to flow down through a room so that air in the room is cleaned with this circulation of clean air.
- In this system, a large quantity of expensive filters are used to cause circulation of clean air through the entire room. Therefore, high cost is required to provide an increased cleanliness. In addition, the scale of air suction fan is inevitably increased. Furthermore, an upper limit is imposed on the cleanliness, and it is difficult to realize as high cleanliness as
class 10 or below. This problem is particularly serious in semiconductor production plant for manufacturing high integration density products such as ultra LSIs or ultra ultra LSIs. For this reason, it has been proposed and practiced to provide a so-called clean tunnel in a transport section to partition the manufacturing section with respect to the other sections. In this case, however, high equipment cost is required. In addition, the borderline of cleanliness is provided only by the clean tunnel. Therefore, expected effect of providing cleanliness can not be obtained. - An object of the invention is to provide a system for manufacturing semiconductor under clean condition, which is advantageous costwise, permits a highly clean state to be obtained and does not require any large-scale withdrawal fan.
- To attain the above object of the invention, there is provided a system for manufacturing semiconductor under clean condition, which comprises a plurality of processing units disposed in a clean room in a low or medium cleanliness state and held in a high cleanliness state, and a transport robot capable of being driven to positions corresponding to the plurality of processing units and having a self-cleaning function of holding clean a tansfer box, in which a workpiece or an object is accommodated, the transport robot being controlled such as to effect transfer of the workpiece or object between its arm and a processing unit when it reaches the position corresponding to the processing unit.
- The processing units (and storage stockers, if necessary) are locally held in a highly clean state at all time, and also the transport robot, which transfers a workpiece or object to and from the processing unit (or storage stocker) is locally held in a highly clean state.
- The transport robot needs not have a self-cleaning function so long as it can hold an object which is accommodated in a carrier in a sealed state in a highly clean state outside the clean room.
- The highly clean state may be formed by partitioning the clean room with a partitioning wall, or alternatively, each processing unit may be held in a highly clean state by providing its housing with a filter.
- The cleanliness may be varied by varying the mesh of the filter provided on the ceiling of the clean room.
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- Fig. 1 is a schematic sectional view showing an embodiment of the invention;
- Fig. 2 is a perspective view showing an arrangement of a plurality of structures shown in Fig. 1;
- Fig. 3 is a perspective view showing a robot of a transport robot extending into the inner side of a partitioning wall;
- Fig. 4 is a sectional view showing a modification of a portion of the embodiment of the system corresponding to a central portion shown in Fig. 3;
- Fig. 5 is a perspective view showing a modified transport robot;
- Fig. 6 is a side view showing the robot shown in Fig. 5;
- Fig. 7 is a back view showing the robot shown in Fig. 5;
- Figs. 8 and 9 are views showing a switch when a hood is open and when the hood is closed, respectively;
- Figs. 10 and 11 show the hood;
- Fig. 12 is a schematic view showing an electric circuit of the transport robot; and
- Fig. 13 is a perspective view showing wafers as workpieces and a wafer cassette.
- Fig. 1 is a schematic view showing the entire system according to the invention.
Reference numeral 1 designates outer walls of a building. Theouter walls 1 include aceiling 2 and aside wall 3. Reference numeral 4 designates inner walls provided on the inner side of and at a suitable distance from theouter walls 1 to form aclean room 12. Aroom 5 is formed between the inner andouter walls 4 and 1. The inner walls 4 include aceiling 7, aside wall 7 and abottom 8. Thebottom 8 partitions the interior of the building into first andsecond story parts vertical partition wall 11 is provided between theceiling 6 andbottom 8 to divide theclean room 12 into tworooms - In the building having above structure, a
fan 14 is disposed in the first story part of theroom 5, and apower source unit 15 and a control panel 16 for controlling the supply of gases and liquid chemicals are provided on the inner side of theside wall 7 in the same story part. Afilter 17 is provided in a portion of theside wall 7 in front of thefan 14 to remove dust from air caused to flow from the first story part toward thefan 14.Filters ceiling 6 on the opposite sides of the partitioningwall 11. Thebottom 8 is provided with holes oropenings rooms filters first story part 9 through theholes room 5 is about class 1,000, the cleanliness of theroom 13A is about class 300, and the cleanliness of theroom 13B, in which astorage stocker 28 and aprocessing unit 29 are disposed, isclass 1. - The
room 13A serves as an operation area withcontrol unit 22 disposed therein. Atransport robot 23 can run inside theroom 13A. Therobot 23 has abody 24 and ahead 25 rotatably provided on top of thebody 24 and capable of accommodating anobject 31 to be transported. Thehead 25 has anarm 26 for clamping and unclamping the object (i.e., a carrier accommodating semiconductor wafers) 31. Thearm 26 can penetrate ahole 27 provided inte partition wall 11 for feeding theobject 31 to and out of thestorage stocker 28 andprocessing unit 29 provided in a juxtaposed fashion in theroom 13B. - Fig. 2 is an actual arrangement of a plurality of the structures shown in Fig. 1. The entirety shown in this Figure constitutes
clean room 12. In thisroom 12,rooms 13B are formed by partitioning walls andceiling 6.Guideways 30 are laid on thefloor 8. Where therobot 23 is wheeled such as a railway wagon, rails are laid as theguideways 30 on thefloor 8. Where therobot 23 is driven by electromagnetic induction, wires or tape-like members, through which AC current can flow, are laid. Therobot 23 is guided mechanically or by electromagnetic induction along theguideways 30 to run a predetermined course to a position in front of eachroom 13B. - Fig. 3 shows the
robot 23 held in front of aroom 13B for in- or out-feeding theobject 31. Therobot 23 shown in Fig. 3 does not have a self-cleaning function, and acarrier 31A, in which theobject 31 is sealed in a highly clean state, is accommodated in the head outside theclean room 12. Thehead 25 of therobot 23 held in front of theroom 13B is turned to bring thearm 26 to a position directed toward thepartitioning wall 11, and in this state thearm 26 is inserted into theroom 13B through thehole 27 in thepartitioning wall 11. In its state extending into theroom 13B, thearm 26 transports thecarrier 31A to thestorage stocker 28 orprocessing unit 29. Therefore, the arm has a telescopic structure, can be raised and lowered in unison with thehead 25 and can be turned in a vertical plane about its portion supported by thehead 25. Of course, therobot 23 may have a self-cleaning function, and in such a case theobject 31 is directly accommodated in thehead 25. - Fig. 4 shows a modification of the system described above according to the invention. In this instance, the partitioning wall has a double-wall structure, and the
transport robot 23 has a self-cleaning function. More specifically, afan unit 32 and aduct 33 are provided on top of aroom 13B, and anotherpartitioning wall 34 is provided on the inner side of partitioningwall 11. Aroom 35 defined between the twopartitioning walls room 13B through vent holes formed in thepartitioning wall 34. Afilter 36 is provided in an upper portion of theroom 35, and air in theroom 13B is circulated through thefilter 36 as shown by arrow in the Figure. Afilter 37 is provided on thehead 25 of therobot 23. Thisfilter 13A withdraws air in theroom 13A and provides it to the inside of thehead 25 after dust removal. The transport of theobject 31 to or out of thestorage stocker 28 orprocessing unit 29 is performed in such a highly clean environment as noted above. In this case, air is supplied to theroom 35 by thefan 32, and no air enters theroom 13B from theroom 13A through thehole 27 in thepartitioning wall 11. - In the dust-free transport system having the construction as described above, the
transport robot 23 holding the object in a highly clean state is run along theguideways 30 laid in theroom 13A. When therobot 23 is brought to a position in front of astorage stocker 28 or aprocessing unit 29, it is stopped, and thearm 26 is operated. Where therobot 23 has a self-cleaning function, it transports theobject 31 to or out of thestorage stocker 28 orprocessing unit 29. Where the robot has no self-cleaning function, it transports a carrier accommodating the object to or out of thestorage stocker 28 orprocessing unit 29. The timing of start and direction of running of therobot 23 and timing of the start of operation of thearm 26 are controlled by a computer. Theobject 31 is transported through a clean space by a dust-free unit or carrier mounted in therobot 23. Therefore, the cleanliness of the entire plant with theguideways 30 laid therein may be of the order of class 10,000. - Now, a modification of the transport robot will be described.
- Referring to Figs. 5 to 7,
reference numeral 41 designates a body of a robot wagon M using a battery as drive source. The robot wagon M is provided at the bottom with wheels, a wheel drive mechanism, guide line sensors and mark sensors. It accommodates a drive controller and a running programmer as well as the battery noted above. Its ceiling is covered by ahorizontal cover 45. Arobot arm 46 having five degrees of freedom is mounted on afront portion 45A of thehorizontal cover 45 of thebody 41. Atransport box 47 is mounted on a rear portion of thehorizontal cover 45. - The
tranport box 47 has abody 52 and ahood 54. Thebody 52 has abottom wall 48, front andrear side walls back wall 51 formed with avent hole 51A. Thehood 54 has an opening to cover thebody 52, and it has alid 56 having such a sectional profile as to extend along the edge of theopening 13 of theside wall 49 and acover portion 56 covering theside wall 50 of thebody 52. A strip-like edge portion 57 covering theside wall 49 is hinged to theback wall 51. Anair cleaning unit 58 is mounted on the outer side of theback wall 51 of thebody 52. Theair cleaning unit 58 accommodates afan 59 and afilter 60. Anair curtain unit 61 is provided on the outer surface of theside wall 49 with its air blow-out port up.Reference numeral 62 designates a motor-driven fan of theair curtain unit 61. Thehood 54, as shown in Fig. 8 (and shown in an open state in Fig. 9), is coupled to the cleaning unit 58 (or body 52) via a hood opening fixing/releasing mechanism (for instance a one-touch stay) 63. The hood opening fixing/releasingmechanism 63 has acylinder 63A and arod 63B. Thecylinder 63A has one end rotatably coupled to theair cleaning unit 58, and therod 63B has one end rotatably coupled to thehood 54. Further, a switch (for instance a U-shaped photoelectric switch) 64 is mounted on the upper end of the inner surface of theside wall 50 of thebody 52, and it is driven by adog 65 mounted on thelid 55 of thehood 54. A detection signal provided from theswitch 64 is used as a command for energizing a relay Ry shown in Fig. 12. The relay Ry has relay switches RY1 to RY3. A hood for engaging with a robot arm to be opened and closed is mounted on the top of thehood 54. Of the relay Ry, the relay switch RY1 has a function of switching power supplies EH and EL (< EH), and the relay switch RY2 has a function of switching the power supply EL and zero potential. The relay switch RY3 is provided to inform therobot 46 of the state of the hood 54 (i.e., whether the hood is opened or closed). The power supplies EH and EL are taken out from the battery mounted in the wagon. Designated at D is a diode. - The
body 41 accommodates a table 67 to support a wafer cassette C (Fig. 13) set thereon. The table 67 has its end on the side of theback wall 51 supported on theback wall 51 via a hinge mechanism and the opposite end supported by a motor-drivencylinder 68. - Now the operation of the robot will be described. It is assumed that the robot wagon M with a wafer cassette C with wafers W transported onto the table 67 in a processing unit of a certain process is driven toward a processing unit of the next process. At this time, the
body 52 of thetransport box 47 is covered by thehood 54, and the relay switches RY1 to RY3 of the relay Ry are in their state shown in Fig. 12. Air having been cleaned by thefilter 60 in theair cleaning unit 58 is supplied to the inside of thebody 52 through thevent portion 51A so that the inside of thebody 52 is filled with clean air. During this time, the motor-drivenfan 62 of theair curtain unit 61 is held inoperative. - The wafer cassette C is set on the table 67 not in the orientation shown in Fig. 13 but in an orientation obtained as a result of turning down it in the direction of arrow from the illustrated orientation. In this orientation, wafers W are liable to be detached from the wafer cassette C due to vibrations of the robot wagon M being driven. When the wafer cassette C is in a slightly inclined orientation rather than in the horizontal orientation, the wafers W are snugly accommodated in grooves C1 of the wafer cassette C, and their corners are less liable to be broken. Thus, when driving the robot wagon M, the table 67 is tilted by a predetermined angle as shown by dashed lines in Fig. 5 by operating the motor-driven
cylinder 68. - When the robot wagon M is stopped at a position corresponding to the processing unit of the next process, the
robot arm 46, which is of playback type, commences a preliminarily instructed operation by receiving a command from the running programmer, thus hooking thehood 56 and opening thehood 54 upwards as shown in Fig. 5. Thehood 54 is opened upwards by a predetermined angle ϑ (sufficient to permit operation of the robot arm entering the body 52), and therod 63B of the hood opening fixing/releasingmechanism 63 is fully extended to secure therod 63B. At this moment, theswitch 64 provides a detection signal. - As a result, the relay Ry is energized, with is switch RY1 switched to the side of the power supply EH and its switch RY2 switched to the side of the power supply EH. The revolving rate of the
fan 59 thus is increased to increase the rate of supply of clean air into thebody 52. Further, the relay switch RY3 is closed, and a control circuit (not shown) for controlling thearm 46 detects that thehood 54 is opened and provides a reciprocation command to the motor-drivencylinder 68. The rod of the motor-drivencylinder 68 thus is elongated to bring the table 67 back to the horizontal orientation. Thus, clean air is blown out from the inside of thebody 52 toward theopening 53, so that entrance of external air into thebody 52 through theopening 53 is prevented. At the same time, the motor-drivenfan 62 of theair curtain unit 61 is operated to upwardly blow out air along theside wall 49, thus forming an air curtain covering an opening (robot arm insertion/removal opening) 53A formed between thehood 54 in the open state andside wall 49 at the front to shut out external air so that no external air can enter thebody 52. - Subsequently, the
robot arm 46 is advanced into thebody 52 through theopening 53A, takes out the wafer cassette C from the table 67, brings it to the outside through theopenig 53 and transports it to thestorage stocker 28 orprocessing unit 29 through theopening 53. - As shown above, in this embodiment clean air is supplied from the
air cleaning unit 58 to the inside of thebody 52 during the transport of the object, thus preventing dust from entering the inside of the body and attaching itself to the wafers W. - Futher, when the
hood 54 is opened, the rate of supply of clean air from theair cleaning unit 58 to the inside of thebody 52 is increased, and clean air is strongly blown out to the outside through the opening of thebody 52 so as to shut theopening 53A between thehood 54 andside wall 49, through which therobot arm 46 is inserted, with an air curtain, thus preventing dust from entering thebody 52 during the transport of the object. - In the above embodiment, the
storage stocker 28 andprocessing unit 29 are provided. Thestorage stocker 28 is necessary when there occurs a trouble in theprocessing unit 29, an it is not needed so long as theunit 29 is sound. Further, thepartitioning wall 11, which serves to partition thestorage stocker 28 andprocessing unit 29 requiring high cleanliness with respect to thechamger 12 requiring low or medium cleanliness, is not essential, and it may be omitted by providing the housing of thestorage stocker 28 orprocessing unit 29 withfilter 19 andhole 27. - Further, the
guideways 30 are laid on thefloor 8 as mechanism for causing running of the transport robot along them, they are not essential. For example, it is conceivable to provide the robot with light- emitting and light-receiving sections for emitting and receiving invisible light such as infrared rays, provide a robot steering mechanism with a structure responsible to the status of reflection of the rays and automatically determine the direction of progress of the robot by detecting the status of reflection of rays by thestorage stocker 28 orprocessing unit 29 or any separately provided guide post.
Claims (7)
a plurality of processing units disposed in a clean room (12) in a low or medium cleanliness state and held in a high cleanliness state; and
a transport robot (23) capable of being driven to positions corresponding to said plurality of processing units and having a self-cleaning function of holding clean a transport box, in which a workpiece or an object (31) is accommodated;
said transport (23) robot being controlled such as to effect transfer of said workpiece or object (31) between its arm (26) and a processing unit (29) when it reaches the position corresponding to said processing unit.
a plurality of processing units disposed in a clean room (12) in a low or medium cleanliness state and held in a high cleanliness state; and
a transport robot (23) capable of being driven to positions corresponding to said plurality of processing units with a workpiece or an object (31) accommodated in a sealed carrier (13A) in a highly clean state outside said clean room;
said tranport robot (23) being when reaching a posi tion corresponding to a processing unit to transfer said workpiece or object (31) to said processing unit with its arm (26).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP78485/88 | 1988-03-31 | ||
JP7848588A JPH0756879B2 (en) | 1988-03-31 | 1988-03-31 | Semiconductor dust-free manufacturing equipment |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0335752A2 true EP0335752A2 (en) | 1989-10-04 |
EP0335752A3 EP0335752A3 (en) | 1991-06-12 |
EP0335752B1 EP0335752B1 (en) | 1994-09-07 |
Family
ID=13663287
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP89400122A Expired - Lifetime EP0335752B1 (en) | 1988-03-31 | 1989-01-16 | System for manufacturing semiconductors under clean condition |
Country Status (4)
Country | Link |
---|---|
US (1) | US4923352A (en) |
EP (1) | EP0335752B1 (en) |
JP (1) | JPH0756879B2 (en) |
DE (1) | DE68917968T2 (en) |
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EP0509256A1 (en) * | 1991-04-19 | 1992-10-21 | Shinko Electric Co. Ltd. | Unmanned conveying device in clean room |
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EP0796702A3 (en) * | 1996-01-23 | 1997-10-08 | Ebara Corporation | Polishing apparatus |
EP0796702A2 (en) * | 1996-01-23 | 1997-09-24 | Ebara Corporation | Polishing apparatus |
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EP1331454A1 (en) * | 2000-10-31 | 2003-07-30 | Shin-Etsu Handotai Co., Ltd | Pulling room |
EP1331454A4 (en) * | 2000-10-31 | 2006-05-17 | Shinetsu Handotai Kk | Pulling room |
DE102004062592B3 (en) * | 2004-12-24 | 2006-06-08 | Leica Microsystems Jena Gmbh | Disk-shaped substrate testing system, has suction unit arranged at side of housing and spaced from mounting plate, and opening provided in suction unit, where opening has width that corresponds to distance of plate to wall of housing |
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Also Published As
Publication number | Publication date |
---|---|
JPH02153546A (en) | 1990-06-13 |
EP0335752A3 (en) | 1991-06-12 |
JPH0756879B2 (en) | 1995-06-14 |
DE68917968D1 (en) | 1994-10-13 |
US4923352A (en) | 1990-05-08 |
DE68917968T2 (en) | 1995-04-27 |
EP0335752B1 (en) | 1994-09-07 |
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